Please use this identifier to cite or link to this item: https://doi.org/10.1142/S0219843610002003
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dc.titleReal-time bipedal walking gait adjustment modes based on a Truncated Fourier Series Model
dc.contributor.authorYang, L.
dc.contributor.authorChew, C.-M.
dc.contributor.authorPoo, A.-N.
dc.contributor.authorZielinska, T.
dc.date.accessioned2014-06-17T06:32:16Z
dc.date.available2014-06-17T06:32:16Z
dc.date.issued2010-03
dc.identifier.citationYang, L., Chew, C.-M., Poo, A.-N., Zielinska, T. (2010-03). Real-time bipedal walking gait adjustment modes based on a Truncated Fourier Series Model. International Journal of Humanoid Robotics 7 (1) : 95-126. ScholarBank@NUS Repository. https://doi.org/10.1142/S0219843610002003
dc.identifier.issn02198436
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/61204
dc.description.abstractThis paper presents three basic bipedal walking gait adjustment modes: step-frequency, step-length and biped lower extremities' pattern adjustments. All the adjustment modes are based on a simple Fourier Series formulation named the Truncated Fourier Series (TFS) model which is newly proposed as a walking pattern generator. Making use of these three gait adjustment modes, bipedal walking can be modified in real-time according to the environment changes. In this paper, the developed gait adjustment modes have been studied by dynamic simulations. The results obtained show that stable walking on uneven terrains as well as human-like walking behaviors can be achieved. © 2010 World Scientific Publishing Company.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1142/S0219843610002003
dc.sourceScopus
dc.subjectBipedal gait adjustment
dc.subjectLearning
dc.subjectTruncated Fourier series
dc.typeArticle
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1142/S0219843610002003
dc.description.sourcetitleInternational Journal of Humanoid Robotics
dc.description.volume7
dc.description.issue1
dc.description.page95-126
dc.identifier.isiut000276155100005
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